version: 66.08
glider: 166
mission: 3
dive: 316
start: 10 17 110 16 8 19
data:
$ID,166
$MISSION,3
$DIVE,316
$N_DIVES,323
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21921.531
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3072
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,9
$FG_AHR_24V,22
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.567585
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043148831
$SEABIRD_T_H,0.00063078973
$SEABIRD_T_I,2.2916694e-05
$SEABIRD_T_J,2.2962076e-06
$SEABIRD_C_G,-9.9893045
$SEABIRD_C_H,1.1222894
$SEABIRD_C_I,-0.0015891744
$SEABIRD_C_J,0.00020161238
$GPS1,171010,160224,2350.931,12628.723,41,1.4,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-62.4
$GPS2,171010,160756,2350.987,12628.713,13,1.5,13,-3.6
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,17.7,16833,-19.7,-13.889
$D_GRID,5000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-214.1,0.0,0.0,0,106,0.00,0.00,-88.72,0.000,2,0.000,0.000,153,1754,3276,0,0,0,0,0,0
$GC,109,-1.16,-214.1,5.7,-12.0,12,140,9.02,2.28,-12.25,0.000,4,0.226,0.057,2445,3210,3947,0,0,0,0,0,0
$GC,233,-0.88,-214.1,67.9,-43.4,33,242,0.32,2.15,0.00,0.000,6,0.168,0.037,2547,1800,3949,0,0,0,0,0,0
$GC,559,-0.78,-214.1,153.5,-22.9,94,567,0.15,2.17,0.00,0.000,4,0.170,0.047,2591,404,3952,0,0,0,0,0,0
$GC,667,-0.78,-214.1,175.2,-18.5,113,674,0.00,2.08,0.00,0.000,6,0.000,0.037,2581,1798,3952,0,0,0,0,0,0
$GC,1001,-0.75,-214.1,237.6,-18.4,174,1009,0.00,2.17,0.00,0.000,4,0.000,0.051,2571,3206,3953,0,0,0,0,0,0
$GC,1050,-0.77,-214.1,245.3,-16.3,182,1058,0.00,2.12,0.00,0.000,6,0.000,0.037,2571,1807,3954,0,0,0,0,0,0
$GC,1388,-0.74,-214.1,303.9,-16.9,242,1393,0.10,2.15,0.00,0.000,4,0.180,0.047,2596,395,3953,0,0,0,0,0,0
$GC,1438,-0.78,-214.1,311.6,-14.4,246,1446,0.00,2.15,0.00,0.000,6,0.000,0.039,2590,1804,3953,0,0,0,0,0,0
$GC,1766,-0.80,-214.1,356.6,-13.4,277,1770,0.00,2.12,0.00,0.000,4,0.000,0.052,2585,3212,3952,0,0,0,0,0,0
$GC,1788,-0.83,-214.1,360.1,-12.8,278,1796,0.00,2.15,0.00,0.000,6,0.000,0.036,2585,1795,3952,0,0,0,0,0,0
$GC,2116,-0.86,-214.1,403.5,-13.0,309,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1795,3951,0,0,0,0,0,0
$GC,2437,-0.90,-214.1,445.7,-13.4,339,2441,0.10,2.15,0.00,0.000,4,0.104,0.049,2531,398,3950,0,0,0,0,0,0
$GC,2483,-0.86,-214.1,454.0,-18.5,343,2488,0.15,2.12,0.00,0.000,6,0.160,0.041,2563,1809,3949,0,0,0,0,0,0
$STATE,2786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2786,begin apogee
$GC,2792,-0.23,0.0,501.5,15.6,371,2971,0.57,0.00,169.82,0.999,6,0.125,0.000,2758,1746,3072,0,0,0,0,0,0
$STATE,2972,end apogee,CONTROL_FINISHED_OK
$STATE,2972,begin climb
$GC,2974,1.16,214.1,512.2,0.0,386,3156,1.23,0.00,172.77,0.975,6,0.051,0.000,3216,1746,2199,0,0,0,0,0,0
$GC,3475,0.88,214.1,399.4,26.7,432,3480,0.32,2.17,0.00,0.000,4,0.193,0.048,3134,343,2192,0,0,0,0,0,0
$GC,3507,0.66,214.1,390.6,24.7,434,3516,0.25,2.17,0.00,0.000,6,0.160,0.040,3058,1742,2192,0,0,0,0,0,0
$GC,3834,0.58,214.1,340.5,14.3,465,3838,0.00,2.15,0.00,0.000,4,0.000,0.047,3054,3164,2190,0,0,0,0,0,0
$GC,3886,0.51,217.5,333.1,13.7,469,3891,0.20,2.12,0.00,0.000,6,0.167,0.038,3006,1749,2189,0,0,0,0,0,0
$GC,4213,0.64,319.9,299.5,9.4,499,4308,0.12,2.25,87.35,0.871,4,0.090,0.046,3084,344,1766,0,0,0,0,0,0
$GC,4347,0.57,319.9,278.5,18.4,519,4355,0.22,2.17,0.00,0.000,6,0.151,0.036,3021,1751,1763,0,0,0,0,0,0
$GC,4683,0.60,342.5,233.2,12.9,580,4711,0.00,2.17,19.62,0.791,4,0.000,0.048,3020,3165,1674,0,0,0,0,0,0
$GC,4786,0.68,367.3,219.6,12.8,597,4816,0.00,2.15,22.25,0.783,6,0.000,0.037,3027,1750,1573,0,0,0,0,0,0
$GC,5144,0.71,367.3,169.6,13.9,661,5151,0.12,2.15,0.00,0.000,4,0.084,0.047,3115,338,1570,0,0,0,0,0,0
$GC,5183,1.17,492.1,165.2,8.5,667,5295,0.28,2.15,103.70,0.762,6,0.067,0.034,3230,1771,1066,0,0,0,0,0,0
$GC,5614,1.02,492.1,27.5,24.7,743,5623,0.22,0.00,0.00,0.000,6,0.170,0.000,3168,1771,1060,0,0,0,0,0,0
$STATE,5734,end climb,SURFACE_DEPTH_REACHED
$STATE,5734,begin surface coast
$FINISH,0.8,1.021875
$STATE,5750,end surface coast,CONTROL_FINISHED_OK
$STATE,5750,begin surface
$SM_CCo,5827,0.00,0.000,0,0,1055,494.77
$SM_GC,1.82,7.75,0.00,0.00,0.035,0.000,0.000,154,1772,1055,-8.33,-0.79,494.77
$IRIDIUM_FIX,2342.70,12626.75,171010,141457
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,8.77445
$TCM_TEMP,23.00
$XPDR_PINGS,73
$24V_AH,24.1,54.408
$10V_AH,10.4,36.271
$FG_AHR_24Vo,22.000
$FG_AHR_10Vo,9.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.150,47.575,575.525,0.000,0.000,31.276,19.383,138.485,18.250,0.000,14.509,1751.699,1642.863,545.292,1959.819,255.933,0.000,1303.187,0.000,1783.088,0.000,0.847,0.000
$DEVICE_MAMPS,225.675,109.395,999.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.453,784.808,1201.939,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,46891,767
$CAP_FILE_SIZE,79606,0
$CFSIZE,260165632,162660352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,278.7,1
$GPS,171010,174634,2352.065,12628.624,13,2.2,32,-3.6